TEACar

Introduction

TEACAR is a 1/14- to 1/16-scale autonomous racing platform explicitly designed around modularity and hardware abstraction. The platform is intended to support a wide range of experimental configurations. At the mechanical level, the platform adopts a four-layer deck architecture that physically decouples key subsystems, improving mechanical stability while simplifying assembly and component replacement. On the software side, the platform offers a standardized, extensible middleware layer for sensing, communication, and control via the Robot Operating System (ROS) 2 [10]. The hardware ensures safe and reliable system operation with a dedicated power distribution board, designed to support onboard components with varying voltage requirements.

Project layout

deck        # STL files for 3D printed parts
powerboard  # Manufacturing files for the power board 
software    # ROS2 package for the TEACar

Build Your Car

1️⃣ Purchase Required Components

• PCA9685 PWM driver board
• NVIDIA Jetson Orin Development Kit
• A 1/14- or 1/16-scale RC car chassis
• Follow the Power Board Guide to order the custom power board and required materials
• Joystick (recommended: Logitech F710)
• Camera (optional, for vision-based tasks)

---

2️⃣ Prepare the Mechanical Structure

• Follow the Deck Guide to print and assemble the deck components
• Design and 3D print the interface layer between the deck and your selected RC chassis

---

3️⃣ Assemble the Hardware

• Solder and assemble the power board according to the power board documentation
• Mount the Jetson board, PCA9685 module, and power board onto the deck using appropriate bolts and standoffs
• Secure the battery and ensure proper cable management
• Connect components using Dupont cables or appropriate connectors
• Double-check wiring and verify correct voltage levels before powering on

---

4️⃣ Install, Power On, and Configure Software

• Follow the Software Setup Guide to install dependencies and build the project
• Power on the system
• Verify that the Jetson boots correctly
• Confirm that all hardware devices (PWM board, joystick, camera) are detected
• Configure parameters for your specific chassis and hardware setup

---

5️⃣ Drive the Car

• Connect the joystick
• Launch the control stack
• Test steering and throttle response
• Begin manual driving